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https://github.com/firestar5683/StarPilot.git
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firestar5683
246 lines
11 KiB
Python
246 lines
11 KiB
Python
"""Left-paddle longitudinal pause preserves only separately qualified AOL steering."""
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from pathlib import Path
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from tempfile import TemporaryDirectory
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from types import SimpleNamespace
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from unittest.mock import patch
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from opendbc.car import gen_empty_fingerprint
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from opendbc.car.hyundai.interface import CarInterface as HyundaiInterface
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from opendbc.car.hyundai.ioniq6_handoff import build_ioniq6_hda2_long_candidate
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from opendbc.car.hyundai.values import CAR as HyundaiCar
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from opendbc.car.structs import car
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from openpilot.cereal import log
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from openpilot.common.params import Params
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from openpilot.selfdrive.selfdrived.events import Events, EventName
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from openpilot.selfdrive.selfdrived.state import StateMachine
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from openpilot.starpilot.aol.intent import AolCardIntent, AolSettings
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from openpilot.starpilot.aol.runtime import decide_axes
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from openpilot.starpilot.feature_runtime import enabled as feature_enabled, requested as feature_requested
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from openpilot.starpilot.nostalgia import aol_no_entry, paddle_cancel, saved_enabled
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ButtonType = car.CarState.ButtonEvent.Type
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class Files:
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def __init__(self, root: Path):
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self.root = root
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def get_param_path(self, key: str) -> str:
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return str(self.root / key)
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def _car(*events):
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return SimpleNamespace(canValid=True, canTimeout=False, buttonEvents=events,
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gearShifter=car.CarState.GearShifter.drive,
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steerFaultPermanent=False, steerFaultTemporary=False,
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brakePressed=False, vEgo=12.0, standstill=False, accFaulted=False,
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cruiseState=SimpleNamespace(available=True))
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def _button(kind, pressed):
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return car.CarState.ButtonEvent(type=kind, pressed=pressed)
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def test_saved_preference_is_strict_and_absent_off():
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with TemporaryDirectory() as directory:
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params = Files(Path(directory))
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path = Path(params.get_param_path('NostalgiaMode'))
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assert not saved_enabled(params)
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for invalid in (b'01', b'true', b'1' * 20):
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path.write_bytes(invalid)
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assert not saved_enabled(params)
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assert path.read_bytes() == invalid
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path.write_bytes(b'1')
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assert saved_enabled(params)
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def test_normal_aol_owner_needs_saved_request_and_exact_tagged_ioniq_cp():
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with TemporaryDirectory() as directory:
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params = Params(directory)
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fp = gen_empty_fingerprint()
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fp[2].update({0x50: 16, 0x2A4: 24})
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fp[1].update({0x1CF: 8, 0x1AA: 16, 0x35: 32, 0x175: 24, 0xA0: 24, 0xEA: 24,
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0x1BA: 24, 0x1E5: 16, 0x36A: 16})
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fp[0][0x3A5] = 24
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stock = HyundaiInterface.get_params(HyundaiCar.HYUNDAI_IONIQ_6, fp, [], False, False, False)
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assert not feature_enabled(params, stock, 'aol', {})
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Path(params.get_param_path('AlwaysOnLateral')).write_bytes(b'1')
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assert feature_requested(params, 'aol')
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assert feature_enabled(params, stock, 'aol', {})
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tagged = build_ioniq6_hda2_long_candidate(stock, fp)
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assert tagged is not None
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assert not feature_enabled(params, tagged, 'aol', {}) # Card has not requested native AOL bit.
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tagged.safetyConfigs[0].safetyParam |= 0x800
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assert feature_enabled(params, tagged, 'aol', {})
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Path(params.get_param_path('AlwaysOnLateral')).write_bytes(b'01')
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assert not feature_requested(params, 'aol')
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from openpilot.starpilot.aol.intent import read_settings
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from openpilot.starpilot.aol.vehicle import policy_for
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from openpilot.starpilot.car.hyundai.aol import create_intent
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assert policy_for(tagged).full_axis_runtime_required
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assert feature_enabled(params, tagged, 'aol', {})
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settings = read_settings(params)
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assert not settings.enabled
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owner = create_intent(tagged, settings)
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for state in (_car(), _car(_button(ButtonType.lkas, True)), _car(_button(ButtonType.lkas, False))):
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owner.update(state)
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assert not owner.allowed_latch
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assert not owner.output(state)[0]
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def test_only_factual_ioniq_press_cancels_longitudinal():
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press = _car(_button(ButtonType.altButton2, True))
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held = _car()
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release = _car(_button(ButtonType.altButton2, False))
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with patch('openpilot.starpilot.nostalgia.ioniq6_long_eligible', side_effect=lambda cp: cp == 'tagged'):
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assert paddle_cancel('tagged', press, enabled=True, saved=True)
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for car_state in (held, release):
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assert not paddle_cancel('tagged', car_state, enabled=True, saved=True)
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assert not paddle_cancel('stock', press, enabled=True, saved=True)
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assert not paddle_cancel('tagged', press, enabled=False, saved=True)
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assert not paddle_cancel('tagged', press, enabled=True, saved=False)
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press.canTimeout = True
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assert not paddle_cancel('tagged', press, enabled=True, saved=True)
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def test_paddle_user_disable_keeps_only_independently_permitted_lateral():
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events = Events()
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events.add(EventName.buttonCancel)
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state = StateMachine()
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state.state = log.SelfdriveState.OpenpilotState.enabled
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enabled, active = state.update(events)
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assert not enabled and not active # ordinary longitudinal state machine sees Cancel
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paddle = _car(_button(ButtonType.altButton2, True))
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assert not aol_no_entry(events.names, paddle, paddle_only_cancel=True)
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native = SimpleNamespace(requestedLateral=True, requestedLongitudinal=False,
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lateralAllowed=True, longitudinalAllowed=True)
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intent = SimpleNamespace(allowedLatch=True, pauseLateral=False, pauseLongitudinal=False)
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decision = decide_axes(standard_lateral=active, standard_longitudinal=enabled,
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intent=intent, native=native, car_state=paddle,
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initialized=True, model_ready=True, no_entry=False,
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immediate_disable=False, dm_lockout=False, pause_brake_mps=0)
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assert decision.lateral_active and not decision.longitudinal_active
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# With AOL off, or without its saved latch, both axes stay off after the press.
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assert not active and not enabled
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intent.allowedLatch = False
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decision = decide_axes(standard_lateral=active, standard_longitudinal=enabled,
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intent=intent, native=native, car_state=paddle,
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initialized=True, model_ready=True, no_entry=False,
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immediate_disable=False, dm_lockout=False, pause_brake_mps=0)
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assert not decision.lateral_active and not decision.longitudinal_active
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# A real Cancel on the same frame retains the normal all-axis veto.
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paddle.buttonEvents = (*paddle.buttonEvents, _button(ButtonType.cancel, True))
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assert aol_no_entry(events.names, paddle, paddle_only_cancel=True)
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assert aol_no_entry(events.names, _car(), paddle_only_cancel=False)
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def test_latch_survives_press_and_next_frame_then_real_cancel_requires_rearm():
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intent = AolCardIntent(AolSettings(True, 0.0, 0, 0, (0, 0, 0), (0, 0, 0)), explicit_latch=True)
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neutral = _car()
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intent.update(neutral)
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arm = _car(_button(ButtonType.lkas, True))
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intent.update(arm)
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assert intent.output(arm)[0]
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intent.update(_car(_button(ButtonType.lkas, False)))
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state = StateMachine()
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state.state = log.SelfdriveState.OpenpilotState.enabled
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press = _car(_button(ButtonType.altButton2, True))
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intent.update(press)
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events = Events()
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events.add(EventName.buttonCancel)
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enabled, active = state.update(events)
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assert not enabled and not active and intent.output(press)[0]
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assert not aol_no_entry(events.names, press, paddle_only_cancel=True)
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next_frame = _car()
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intent.update(next_frame)
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enabled, active = state.update(Events())
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assert not enabled and not active and intent.output(next_frame)[0]
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cancel = _car(_button(ButtonType.cancel, True))
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intent.update(cancel)
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assert not intent.output(cancel)[0]
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assert aol_no_entry(events.names, cancel, paddle_only_cancel=True)
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intent.update(_car(_button(ButtonType.cancel, False)))
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assert not intent.output(neutral)[0]
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intent.update(_car(_button(ButtonType.lkas, True)))
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assert intent.output(neutral)[0] # A new deliberate host gesture rearms steering.
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def _ioniq5_params(*, alternate=False, long=True):
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fp = gen_empty_fingerprint()
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fp[2].update({0x50: 16, 0x2A4: 24})
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fp[1][0x1AA if alternate else 0x1CF] = 16 if alternate else 8
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cp = HyundaiInterface.get_params(HyundaiCar.HYUNDAI_IONIQ_5, fp, [], long, False, False)
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if long and not alternate:
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from opendbc.car.hyundai.torque_ev_startup import candidate
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cp = candidate(cp, requested=True, is_release=False)
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assert cp is not None
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from openpilot.starpilot.car.hyundai.aol import policy_for
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policy = policy_for(cp)
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cp.safetyConfigs[-1].safetyParam |= policy.safety_param_addition
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cp.alternativeExperience |= policy.alternative_experience_addition
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return cp
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def test_ioniq5_physical_parser_emits_paddle_edges_with_existing_long_policy():
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from opendbc.can import CANPacker
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from opendbc.car import Bus
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from opendbc.car.hyundai.hyundaicanfd import CanBus
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from opendbc.car.hyundai.tests.test_ioniq6_stock_parser import StockParserTests
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from opendbc.car.hyundai.values import DBC
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from openpilot.starpilot.car.hyundai.aol import policy_for
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cp = _ioniq5_params()
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assert cp.openpilotLongitudinalControl
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assert policy_for(cp).paddle_pause and policy_for(cp).runtime_supported
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case = StockParserTests(methodName='runTest')
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ci = case.host(cp)
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case.feed(ci, count=5)
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packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
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for counter, pressed in ((6, True), (7, False)):
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ci.test_time_ns += 10_000_000
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msg = packer.make_can_msg('CRUISE_BUTTONS', CanBus(cp).ECAN,
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{'COUNTER': counter, 'LEFT_PADDLE': int(pressed)})
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state = ci.update([(ci.test_time_ns, [msg])])
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events = [e for e in state.buttonEvents if e.type == ButtonType.altButton2]
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assert len(events) == 1 and events[0].pressed == pressed
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assert paddle_cancel(cp, state, enabled=True, saved=True) == pressed
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for cp in (_ioniq5_params(alternate=True), _ioniq5_params(long=False)):
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assert not policy_for(cp).paddle_pause
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assert not paddle_cancel(cp, _car(_button(ButtonType.altButton2, True)), enabled=True, saved=True)
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def test_actual_ioniq5_paddle_withdraws_long_without_cancelling_aol():
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from contextlib import ExitStack
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from openpilot.common.prefix import OpenpilotPrefix
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from openpilot.starpilot.aol.tests.test_ioniq_availability import IoniqAvailabilityTests, car_state
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case = IoniqAvailabilityTests(methodName='runTest')
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with OpenpilotPrefix(), ExitStack() as cleanup:
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cleanup.callback(case.doCleanups)
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params = Params()
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params.put_bool('NostalgiaMode', True, block=True)
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cp = _ioniq5_params()
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sd, _, drive = case._authority_callers(True, cp=cp, genuine_events=True)
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axis, _, command = drive(0)
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assert command.latActive and command.longActive
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state = car_state()
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state.buttonEvents = [_button(ButtonType.altButton2, True)]
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axis, _, command = drive(1, observed_state=state)
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assert sd.nostalgia_paddle_cancel
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assert not sd.enabled and not command.longActive and not axis.longitudinalActive
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assert command.latActive and axis.lateralActive
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assert EventName.buttonCancel in sd.events.names
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axis, _, command = drive(2, native_request_long=False, long_allowed=False)
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assert axis.lateralActive and command.latActive and not command.longActive
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state.buttonEvents = [_button(ButtonType.cancel, True)]
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axis, _, command = drive(3, observed_state=state, native_request_long=False, long_allowed=False)
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assert not command.latActive and not command.longActive
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